WO2000025187A1 - Systeme mobile autonome anti-chute a reperes de zone - Google Patents

Systeme mobile autonome anti-chute a reperes de zone Download PDF

Info

Publication number
WO2000025187A1
WO2000025187A1 PCT/DE1999/003263 DE9903263W WO0025187A1 WO 2000025187 A1 WO2000025187 A1 WO 2000025187A1 DE 9903263 W DE9903263 W DE 9903263W WO 0025187 A1 WO0025187 A1 WO 0025187A1
Authority
WO
WIPO (PCT)
Prior art keywords
area
mobile unit
driving
driving system
control device
Prior art date
Application number
PCT/DE1999/003263
Other languages
German (de)
English (en)
Inventor
Hermann-Josef Wiegand
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to EP99957878A priority Critical patent/EP1125176B1/fr
Priority to JP2000578707A priority patent/JP2002528810A/ja
Priority to DE59908138T priority patent/DE59908138D1/de
Priority to AT99957878T priority patent/ATE256882T1/de
Publication of WO2000025187A1 publication Critical patent/WO2000025187A1/fr
Priority to US09/840,514 priority patent/US20010027361A1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49142—Shut off power, stop if outside working zone

Definitions

  • the fall-proof autonomous driving system contains area marks which are arranged spatially distributed in the driving area. Furthermore, the at least one self-propelled mobile unit of the driving system contains a contactless room scanning device with a detection area in which the room scanning device scans at least the driving area lying in front of the mobile unit in the direction of travel and detects area marks located therein. Furthermore, the at least one self-propelled mobile unit of the driving system contains a program-controlled control device which is connected to the room scanning device and stops the mobile unit when the room scanning device no longer detects an area mark which lies in a first security partial area of the detection area.
  • the system according to the invention is based on the fact that, as a safety criterion against a fall, at least one area mark lies within the first security partial area of the detection area and must be detectable by the control device. If this condition is met, the control unit can move the mobile unit unimpeded according to the navigation strategy, which is dependent in particular on the type of mobile unit.
  • the system according to the invention can thus be clearly compared with a virtual optical line, which only becomes active when the mobile unit has reached the virtual limits determined thereby.
  • the fall protection system according to the invention can thus be used without restrictions in addition to other navigation and safety programs which are usually already present and which act on the control device.
  • Such an embodiment has the further advantage that in order to achieve the additional function of the fall protection on existing, self-propelled mobile units, no external, constructive changes have to be made. Rather, the function of fall protection is implemented by adapting the control program to 4 animals. In practice, these adjustments can be carried out in a simple manner by loading program components.
  • the fall protection is achieved in that an additional, corresponds in the detection area of the room scanning device, which is usually present anyway for the purpose of normal navigation and / or collision avoidance and is evaluated accordingly by the program-controlled control device - Adequately designed fuse section is defined.
  • the program of the control device thus evaluates this special segment of the detection area separately with the aim of securing the mobile unit against falling.
  • a further advantage of the invention is seen in the fact that the area marks arranged spatially distributed in the driving area do not represent any artificial obstacles, in particular for people. Rather, these can e.g. on existing building parts, e.g. Walls, columns, ceilings and the like without affecting existing spatial and movement structures. Due to the expansion of the detection area and the security subarea located therein, the area marks do not have to be placed in the immediate vicinity of a potential crash site of the mobile unit. Rather, they can be extended by a maximum extent of the security sub-area, i.e. quasi by the length of the optical line of the system. Is the potential crash site e.g. represents a stair landing, its accessibility for people is not impaired by area marks of the driving system according to the invention.
  • the invention is further explained with reference to an embodiment shown in the figure.
  • the figure shows a top view of a mobile unit which is based on a 5 nem driving area, which has a potential crash area, is guided fall-proof.
  • the figure shows a top view of an example of a platform serving as driving area 9.
  • This forms an elevated driving level for an exemplary, self-propelled mobile unit 13 and is separated from a lowered crash level 11 occupied by a track system 1 via a platform edge 5.
  • This represents a potential crash area.
  • the autonomous driving system according to the invention ensures that the self-propelled mobile unit 13 does not under any circumstances drive over the platform edge 5.
  • the self-driving range of the mobile unit is hereby limited on a line 3 shown in dashed lines and virtually representing the track center of the mobile unit.
  • five area marks 35a to 35f are exemplarily arranged spatially distributed in the driving area 9 in the figure.
  • the guide marks 35a to 35f are arranged, for example, in a line shape, parallel to the likewise line-shaped platform edge 5 at an approximately equal distance marked with a double arrow 7.
  • the self-propelled mobile unit 13, which in the example of the figure is moving straight along the boundary 3 of the self-propelled area 9 in the direction of the arrow 25, contains a contactless room scanning device 15 with a detection area 17.
  • the room scanning device 15, preferably a pulse laser scanner, is at the head end 27 of the mobile unit 13 and in particular connected to a control device 14 via a data bus.
  • the detection area 17 has an oval cross section. The in the detection area 17 at least before the mobile unit 13 in 6
  • Section of the driving area 9 lying in the direction of travel 25 is scanned by the room scanning device 15 and the area marks 35b, 35c, 35d located therein in the example are detected.
  • the detection area 17 is evaluated by the program-controlled control device 14 in the mobile unit 13 for the purpose of fall protection.
  • this has the reference symbol 18 and is referred to below as the first securing partial area.
  • the first securing subarea 18 advantageously has a right and left detection lobe 19 and 21, which faces away from the direction of travel 25 of the mobile unit 13 on both sides.
  • the maximum extent of both detection lobes transverse to the direction of travel is identified by reference numeral 33, and the maximum extent of each detection lobe in the direction of travel is identified by reference numeral 29.
  • the mobile unit 13 is stopped by the control device when the room scanning device 15 no longer detects an area mark which lies in the first security partial area 18 of the detection area 17.
  • the mobile unit 13 is forcibly and finally shut down, so that a restart of the mobile unit, e.g. is only possible after an intervention or a check by an operator.
  • the spacing 7 of adjacent area marks is advantageously smaller than the maximum extent 29 of the first securing partial area 18 in the direction of travel 25 of the mobile unit 13.
  • the adjacent area marks 35c and 35d lie within this outer edge area 29 of the right detection lobe 19 and are used by the spatial scanning device 15 and control device 14 7 knows.
  • at least two adjacent area marks on the rear edge area 33 in the right or in the left detection lobe could also be recognized.
  • the fall-proof autonomous driving system advantageously has carriers for holding area marks, which are designed and / or attached in such a way that a area mark can be detected by the detection area 17 of the mobile unit 13 from almost any spatial direction.
  • Such supports are preferably columnar or hemispherical in shape and attached to ceilings or supporting parts of buildings.
  • the area marks can e.g. be in the form of a film which is placed on the outside of a carrier. Furthermore, the surfaces of area marks can be designed so that they are away from the space scanner, e.g. a pulse laser scanner, and the control device of a mobile unit can be detected not only as marks in general, but specifically as area marks, which serve to prevent falls. As a result, these marks can be automatically distinguished from other marks by the driving system, which are arranged in the driving area for a further purpose that does not serve to prevent falls.
  • the detection area 17 contains a second security subarea 23 approximately directly in the direction of travel 25 of the mobile unit 13.
  • the mobile unit 13 is forcibly temporarily stopped by the control device 14 when the spatial scanning device 15 detects a body located in the second security subarea 18. After removing the body, the mobile unit can start moving again independently.
  • a contactless room scanning device (15) with a detection area (17), in which the room scanning device (15) scans at least the driving area (9) lying in front of the mobile unit (13) in the direction of travel (25) and at least located therein
  • a program-controlled control device (14) which is connected to the room scanner (15) and stops the mobile unit (13) when the
  • Room scanning device no longer detects an area mark which lies in a first security partial area (18) of the detection area (17).
  • the detection area (17) has a second securing partial area (23) approximately directly in the direction of travel (25) of the mobile unit (13), and
  • control device (14) forcibly temporarily shuts down the mobile unit (13) when the room scanning device (15) detects a body located in the second securing partial area (18).

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

Selon l'invention, des repères de zone (35a-35f) sont disposés dans la zone de déplacement (9) d'une unité mobile (13). Cette unité contient un dispositif de balayage spatial (15) couvrant une zone de détection (17) dans laquelle la zone de déplacement (9) de l'unité mobile est balayée dans le sens de déplacement (25) et des repères de zone se trouvant dans ladite zone de déplacement sont détectés. Un dispositif de commande piloté par programme (14) arrête l'unité mobile (13) si le dispositif de balayage spatial ne détecte aucun repère de zone ne se trouvant dans une première zone partielle de sécurité (18) de la zone de détection.
PCT/DE1999/003263 1998-10-23 1999-10-11 Systeme mobile autonome anti-chute a reperes de zone WO2000025187A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP99957878A EP1125176B1 (fr) 1998-10-23 1999-10-11 Systeme mobile autonome anti-chute a reperes de zone
JP2000578707A JP2002528810A (ja) 1998-10-23 1999-10-11 衝突に対して安全な自律的走行システム
DE59908138T DE59908138D1 (de) 1998-10-23 1999-10-11 Absturzsicheres autonomes fahrsystem mit bereichsmarken
AT99957878T ATE256882T1 (de) 1998-10-23 1999-10-11 Absturzsicheres autonomes fahrsystem mit bereichsmarken
US09/840,514 US20010027361A1 (en) 1998-10-23 2001-04-23 Fall-protected autonomous travel system with area markers

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29818932.1 1998-10-23
DE29818932U DE29818932U1 (de) 1998-10-23 1998-10-23 Absturzsicheres autonomes Fahrsystem mit Bereichsmarken

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US09/840,514 Continuation US20010027361A1 (en) 1998-10-23 2001-04-23 Fall-protected autonomous travel system with area markers

Publications (1)

Publication Number Publication Date
WO2000025187A1 true WO2000025187A1 (fr) 2000-05-04

Family

ID=8064308

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1999/003263 WO2000025187A1 (fr) 1998-10-23 1999-10-11 Systeme mobile autonome anti-chute a reperes de zone

Country Status (6)

Country Link
US (1) US20010027361A1 (fr)
EP (1) EP1125176B1 (fr)
JP (1) JP2002528810A (fr)
AT (1) ATE256882T1 (fr)
DE (2) DE29818932U1 (fr)
WO (1) WO2000025187A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012166970A1 (fr) * 2011-05-31 2012-12-06 John Bean Technologies Corporation Système de navigation à voie profonde pour véhicules à guidage automatique
CN108181610B (zh) * 2017-12-22 2021-11-19 鲁东大学 室内机器人定位方法和系统
CN108996220A (zh) * 2018-06-12 2018-12-14 芜湖乐创电子科技有限公司 一种基于定位分析的拾料放料机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2143969A (en) * 1983-07-14 1985-02-20 Mannesmann Ag Vehicle guidance
US4593239A (en) * 1983-09-17 1986-06-03 Tsubakimoto Chain Co. Method and apparatus for controlling travel of an automatic guided vehicle
EP0278853A1 (fr) * 1987-02-04 1988-08-17 PROTEE Groupement d'Intérêt Economique Système et procédé de navigation pour la marche d'un véhicule autonome
US4811228A (en) * 1985-09-17 1989-03-07 Inik Instrument Och Elektronik Method of navigating an automated guided vehicle
US5367458A (en) * 1993-08-10 1994-11-22 Caterpillar Industrial Inc. Apparatus and method for identifying scanned reflective anonymous targets

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5307273A (en) * 1990-08-29 1994-04-26 Goldstar Co., Ltd. Apparatus and method for recognizing carpets and stairs by cleaning robot
DE4414192C2 (de) * 1994-04-22 1996-06-13 Siemens Ag Verfahren zur Ermittlung einer Sicherheitszone um eine selbstbewegliche mobile Einheit
DE19516369A1 (de) * 1995-05-04 1996-11-07 Dpm Daum & Partner Maschinenba Transportsystem
DE29519245U1 (de) * 1995-12-05 1998-01-02 Birle Sigmund Führerloses Transportsystem
DE19614916A1 (de) * 1996-04-16 1997-11-06 Detlef Raupach Fahrroboter für die automatische Behandlung von Bodenflächen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2143969A (en) * 1983-07-14 1985-02-20 Mannesmann Ag Vehicle guidance
US4593239A (en) * 1983-09-17 1986-06-03 Tsubakimoto Chain Co. Method and apparatus for controlling travel of an automatic guided vehicle
US4811228A (en) * 1985-09-17 1989-03-07 Inik Instrument Och Elektronik Method of navigating an automated guided vehicle
EP0278853A1 (fr) * 1987-02-04 1988-08-17 PROTEE Groupement d'Intérêt Economique Système et procédé de navigation pour la marche d'un véhicule autonome
US5367458A (en) * 1993-08-10 1994-11-22 Caterpillar Industrial Inc. Apparatus and method for identifying scanned reflective anonymous targets

Also Published As

Publication number Publication date
EP1125176B1 (fr) 2003-12-17
DE29818932U1 (de) 2000-01-20
DE59908138D1 (de) 2004-01-29
EP1125176A1 (fr) 2001-08-22
JP2002528810A (ja) 2002-09-03
ATE256882T1 (de) 2004-01-15
US20010027361A1 (en) 2001-10-04

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